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<div class="title">mip_sdk_ahrs.h</div>  </div>
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<a href="mip__sdk__ahrs_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="comment">//</span>
<a name="l00006"></a>00006 <span class="comment"></span><span class="comment">//</span>
<a name="l00008"></a>00008 <span class="comment"></span><span class="comment">//</span>
<a name="l00009"></a>00009 <span class="comment">// External dependencies:</span>
<a name="l00010"></a>00010 <span class="comment">//</span>
<a name="l00011"></a>00011 <span class="comment">//  </span>
<a name="l00012"></a>00012 <span class="comment">// </span>
<a name="l00014"></a>00014 <span class="comment"></span><span class="comment">//</span>
<a name="l00017"></a>00017 <span class="comment"></span><span class="comment">//</span>
<a name="l00027"></a>00027 <span class="comment"></span><span class="comment">//</span>
<a name="l00029"></a>00029 <span class="comment"></span>
<a name="l00030"></a>00030 <span class="preprocessor">#ifndef _MIP_SDK_AHRS_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define _MIP_SDK_AHRS_H</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00034"></a>00034 <span class="comment">//</span>
<a name="l00035"></a>00035 <span class="comment">//Include Files</span>
<a name="l00036"></a>00036 <span class="comment">//</span>
<a name="l00038"></a>00038 <span class="comment"></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &quot;<a class="code" href="mip_8h.html">mip.h</a>&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;<a class="code" href="mip__sdk__interface_8h.html">mip_sdk_interface.h</a>&quot;</span>
<a name="l00041"></a>00041 
<a name="l00043"></a>00043 <span class="comment">//</span>
<a name="l00044"></a>00044 <span class="comment">// Defines</span>
<a name="l00045"></a>00045 <span class="comment">//</span>
<a name="l00048"></a>00048 <span class="comment"></span>
<a name="l00049"></a>00049 
<a name="l00051"></a>00051 <span class="comment">//</span>
<a name="l00052"></a>00052 <span class="comment">// Descriptor Set designator - used in the Desc Set field of the MIP header</span>
<a name="l00053"></a>00053 <span class="comment">//</span>
<a name="l00055"></a>00055 <span class="comment"></span>
<a name="l00056"></a>00056 <span class="preprocessor">#define MIP_AHRS_DATA_SET                                       0x80</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span>
<a name="l00058"></a>00058 
<a name="l00060"></a>00060 <span class="comment">//</span>
<a name="l00061"></a>00061 <span class="comment">// Descriptors </span>
<a name="l00062"></a>00062 <span class="comment">//</span>
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="preprocessor">#define MIP_AHRS_DATA_ACCEL_RAW                                 0x01    // 12: 3 single (vector) (no units)</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_GYRO_RAW                          0x02    // 12: 3 single (vector) (no units)</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_MAG_RAW                           0x03    // 12: 3 single (vector) (no units)</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_ACCEL_SCALED                              0x04    // 12: 3 single (vector) (g)</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_GYRO_SCALED                               0x05    // 12: 3 single (vector) (radians/second)</span>
<a name="l00070"></a>00070 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_MAG_SCALED                                0x06    // 12: 3 single (vector) (gauss)</span>
<a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_DELTA_THETA                               0x07    // 12: 3 single (vector) (radians/second)</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_DELTA_VELOCITY                    0x08    // 12: 3 single (vector) (meters/second)</span>
<a name="l00073"></a>00073 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_ORIENTATION_MATRIX                0x09    // 36: 9 single (Matrix) (no units)</span>
<a name="l00074"></a>00074 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_QUATERNION                                0x0A    // 16: 4 single (Quaternion) (no units)</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_ORIENTATION_UPDATE_MATRIX 0x0B    // 36: 9 single (Matrix) (no units)</span>
<a name="l00076"></a>00076 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_EULER_ANGLES                              0x0C </span>
<a name="l00077"></a>00077 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_TEMPERATURE_RAW                   0x0D    // 8:  4 u16            (no units)</span>
<a name="l00078"></a>00078 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_TIME_STAMP_INTERNAL               0x0E    // 4:  1 u32 (Integer) (device specific)</span>
<a name="l00079"></a>00079 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_TIME_STAMP_PPS                    0x0F    // 9:  u8 flags u32 seconds u32 nanoseconds</span>
<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_STAB_MAG                          0x10    // 12: 3 single (vector) (Gauss)</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_STAB_ACCEL                                0x11    // 12: 3 single (vector) (g)</span>
<a name="l00082"></a>00082 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_TIME_STAMP_GPS                    0x12    // 14: double GPS TOW u16 GPS week number u16 flags </span>
<a name="l00083"></a>00083 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_PRESSURE_SCALED               0x17 </span>
<a name="l00084"></a>00084 <span class="preprocessor"></span>
<a name="l00085"></a>00085 
<a name="l00086"></a>00086 
<a name="l00087"></a>00087 <span class="preprocessor">#define MIP_AHRS_DATA_ASPP                                      0x81    // MicroStrain ASPP packet</span>
<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="preprocessor">#define MIP_AHRS_DATA_GXSB                                      0x82    // MicroStrain GX series single byte command</span>
<a name="l00089"></a>00089 <span class="preprocessor"></span>
<a name="l00090"></a>00090 
<a name="l00091"></a>00091 
<a name="l00093"></a>00093 <span class="comment">//</span>
<a name="l00094"></a>00094 <span class="comment">// Structures</span>
<a name="l00095"></a>00095 <span class="comment">//</span>
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment">// Raw sensor </span>
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="preprocessor">#pragma pack(1)</span>
<a name="l00103"></a>00103 <span class="preprocessor"></span>
<a name="l00104"></a><a class="code" href="struct__mip__ahrs__raw__accel.html">00104</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__raw__accel.html">_mip_ahrs_raw_accel</a> 
<a name="l00105"></a>00105 {
<a name="l00106"></a>00106  <span class="keywordtype">float</span> raw_accel[3];       <span class="comment">//Counts</span>
<a name="l00107"></a>00107 }<a class="code" href="struct__mip__ahrs__raw__accel.html">mip_ahrs_raw_accel</a>;
<a name="l00108"></a>00108 
<a name="l00109"></a><a class="code" href="struct__mip__ahrs__raw__gyro.html">00109</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__raw__gyro.html">_mip_ahrs_raw_gyro</a> 
<a name="l00110"></a>00110 {
<a name="l00111"></a>00111  <span class="keywordtype">float</span> raw_gyro[3];       <span class="comment">//Counts</span>
<a name="l00112"></a>00112 }<a class="code" href="struct__mip__ahrs__raw__gyro.html">mip_ahrs_raw_gyro</a>;
<a name="l00113"></a>00113 
<a name="l00114"></a><a class="code" href="struct__mip__ahrs__raw__mag.html">00114</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__raw__mag.html">_mip_ahrs_raw_mag</a> 
<a name="l00115"></a>00115 {
<a name="l00116"></a>00116  <span class="keywordtype">float</span> raw_mag[3];       <span class="comment">//Counts</span>
<a name="l00117"></a>00117 }<a class="code" href="struct__mip__ahrs__raw__mag.html">mip_ahrs_raw_mag</a>;
<a name="l00118"></a>00118 
<a name="l00119"></a>00119 
<a name="l00121"></a>00121 <span class="comment">// Scaled/Temp-Comped sensor </span>
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a><a class="code" href="struct__mip__ahrs__scaled__accel.html">00124</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__scaled__accel.html">_mip_ahrs_scaled_accel</a> 
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126  <span class="keywordtype">float</span> scaled_accel[3];       <span class="comment">//&quot;G&quot;s</span>
<a name="l00127"></a>00127 }<a class="code" href="struct__mip__ahrs__scaled__accel.html">mip_ahrs_scaled_accel</a>;
<a name="l00128"></a>00128 
<a name="l00129"></a><a class="code" href="struct__mip__ahrs__scaled__gyro.html">00129</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__scaled__gyro.html">_mip_ahrs_scaled_gyro</a>
<a name="l00130"></a>00130 {
<a name="l00131"></a>00131  <span class="keywordtype">float</span> scaled_gyro[3];       <span class="comment">//radians/sec</span>
<a name="l00132"></a>00132 }<a class="code" href="struct__mip__ahrs__scaled__gyro.html">mip_ahrs_scaled_gyro</a>;
<a name="l00133"></a>00133 
<a name="l00134"></a><a class="code" href="struct__mip__ahrs__scaled__mag.html">00134</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__scaled__mag.html">_mip_ahrs_scaled_mag</a> 
<a name="l00135"></a>00135 {
<a name="l00136"></a>00136  <span class="keywordtype">float</span> scaled_mag[3];       <span class="comment">//Gauss</span>
<a name="l00137"></a>00137 }<a class="code" href="struct__mip__ahrs__scaled__mag.html">mip_ahrs_scaled_mag</a>;
<a name="l00138"></a>00138 
<a name="l00139"></a><a class="code" href="struct__ahrs__scaled__pressure__mip__field.html">00139</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__ahrs__scaled__pressure__mip__field.html">_ahrs_scaled_pressure_mip_field</a> 
<a name="l00140"></a>00140 {
<a name="l00141"></a>00141  <span class="keywordtype">float</span> scaled_pressure;       <span class="comment">//mBar</span>
<a name="l00142"></a>00142 }<a class="code" href="struct__ahrs__scaled__pressure__mip__field.html">ahrs_scaled_pressure_mip_field</a>;
<a name="l00143"></a>00143 
<a name="l00144"></a>00144 
<a name="l00146"></a>00146 <span class="comment">// Delta Theta/Velocity</span>
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a><a class="code" href="struct__mip__ahrs__delta__theta.html">00149</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__delta__theta.html">_mip_ahrs_delta_theta</a> 
<a name="l00150"></a>00150 {
<a name="l00151"></a>00151  <span class="keywordtype">float</span> delta_theta[3];       <span class="comment">//radians/sec</span>
<a name="l00152"></a>00152 }<a class="code" href="struct__mip__ahrs__delta__theta.html">mip_ahrs_delta_theta</a>;
<a name="l00153"></a>00153 
<a name="l00154"></a><a class="code" href="struct__mip__ahrs__delta__velocity.html">00154</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__delta__velocity.html">_mip_ahrs_delta_velocity</a> 
<a name="l00155"></a>00155 {
<a name="l00156"></a>00156  <span class="keywordtype">float</span> delta_velocity[3];       <span class="comment">//meters/sec</span>
<a name="l00157"></a>00157 }<a class="code" href="struct__mip__ahrs__delta__velocity.html">mip_ahrs_delta_velocity</a>;
<a name="l00158"></a>00158 
<a name="l00159"></a>00159 
<a name="l00161"></a>00161 <span class="comment">// Orientations</span>
<a name="l00163"></a>00163 <span class="comment"></span>
<a name="l00164"></a><a class="code" href="struct__mip__ahrs__orientation__matrix.html">00164</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__orientation__matrix.html">_mip_ahrs_orientation_matrix</a> 
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166  <span class="keywordtype">float</span> m[3][3];    
<a name="l00167"></a>00167 }<a class="code" href="struct__mip__ahrs__orientation__matrix.html">mip_ahrs_orientation_matrix</a>;
<a name="l00168"></a>00168 
<a name="l00169"></a><a class="code" href="struct__mip__ahrs__quaternion.html">00169</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__quaternion.html">_mip_ahrs_quaternion</a> 
<a name="l00170"></a>00170 {
<a name="l00171"></a>00171  <span class="keywordtype">float</span> q[4];    
<a name="l00172"></a>00172 }<a class="code" href="struct__mip__ahrs__quaternion.html">mip_ahrs_quaternion</a>;
<a name="l00173"></a>00173 
<a name="l00174"></a><a class="code" href="struct__mip__ahrs__euler__angles.html">00174</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__euler__angles.html">_mip_ahrs_euler_angles</a>
<a name="l00175"></a>00175 {
<a name="l00176"></a>00176  <span class="keywordtype">float</span> roll, pitch, yaw;    
<a name="l00177"></a>00177 }<a class="code" href="struct__mip__ahrs__euler__angles.html">mip_ahrs_euler_angles</a>;
<a name="l00178"></a>00178 
<a name="l00179"></a>00179 
<a name="l00181"></a>00181 <span class="comment">// Orientation Update </span>
<a name="l00183"></a>00183 <span class="comment"></span>
<a name="l00184"></a><a class="code" href="struct__mip__ahrs__orientation__update__matrix.html">00184</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__orientation__update__matrix.html">_mip_ahrs_orientation_update_matrix</a>
<a name="l00185"></a>00185 {
<a name="l00186"></a>00186  <span class="keywordtype">float</span> m[3][3];    
<a name="l00187"></a>00187 }<a class="code" href="struct__mip__ahrs__orientation__update__matrix.html">mip_ahrs_orientation_update_matrix</a>;
<a name="l00188"></a>00188 
<a name="l00190"></a>00190 <span class="comment">// Raw Temperature </span>
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a><a class="code" href="struct__mip__ahrs__raw__temp.html">00193</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__raw__temp.html">_mip_ahrs_raw_temp</a> 
<a name="l00194"></a>00194 {
<a name="l00195"></a>00195  u16 raw_temp[4];       <span class="comment">//0 = Mag, 1 = Gyro_3/Accel_3, 2 = Gyro_2/Accel_1/Accel_2, 3 = Gyro_1</span>
<a name="l00196"></a>00196 }<a class="code" href="struct__mip__ahrs__raw__temp.html">mip_ahrs_raw_temp</a>;
<a name="l00197"></a>00197 
<a name="l00199"></a>00199 <span class="comment">// Timestamps</span>
<a name="l00201"></a>00201 <span class="comment"></span>
<a name="l00202"></a><a class="code" href="struct__mip__ahrs__internal__timestamp.html">00202</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__internal__timestamp.html">_mip_ahrs_internal_timestamp</a> 
<a name="l00203"></a>00203 {
<a name="l00204"></a>00204  u32 counts; <span class="comment">// 16 uS increments, 1/62,500 of a second</span>
<a name="l00205"></a>00205 }<a class="code" href="struct__mip__ahrs__internal__timestamp.html">mip_ahrs_internal_timestamp</a>;
<a name="l00206"></a>00206 
<a name="l00207"></a>00207 
<a name="l00208"></a><a class="code" href="struct__mip__ahrs__1pps__timestamp.html">00208</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__1pps__timestamp.html">_mip_ahrs_1pps_timestamp</a> 
<a name="l00209"></a>00209 {
<a name="l00210"></a>00210  u8  flags;
<a name="l00211"></a>00211  u32 seconds, nanoseconds; <span class="comment">// seconds, nanoseconds</span>
<a name="l00212"></a>00212 }<a class="code" href="struct__mip__ahrs__1pps__timestamp.html">mip_ahrs_1pps_timestamp</a>;
<a name="l00213"></a>00213 
<a name="l00214"></a>00214 
<a name="l00215"></a><a class="code" href="struct__mip__ahrs__gps__timestamp.html">00215</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__gps__timestamp.html">_mip_ahrs_gps_timestamp</a> 
<a name="l00216"></a>00216 {
<a name="l00217"></a>00217  <span class="keywordtype">double</span> tow;  <span class="comment">//Time of Week (seconds)</span>
<a name="l00218"></a>00218  u16 week_number; 
<a name="l00219"></a>00219  u16 valid_flags;
<a name="l00220"></a>00220 }<a class="code" href="struct__mip__ahrs__gps__timestamp.html">mip_ahrs_gps_timestamp</a>;
<a name="l00221"></a>00221 
<a name="l00222"></a>00222 
<a name="l00224"></a>00224 <span class="comment">// Unit Vector Fields</span>
<a name="l00226"></a>00226 <span class="comment"></span>
<a name="l00227"></a><a class="code" href="struct__mip__ahrs__up__vector.html">00227</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__up__vector.html">_mip_ahrs_up_vector</a> 
<a name="l00228"></a>00228 {
<a name="l00229"></a>00229  <span class="keywordtype">float</span> up[3];       <span class="comment">//Unit Vector</span>
<a name="l00230"></a>00230 }<a class="code" href="struct__mip__ahrs__up__vector.html">mip_ahrs_up_vector</a>;
<a name="l00231"></a>00231 
<a name="l00232"></a>00232 
<a name="l00233"></a><a class="code" href="struct__mip__ahrs__north__vector.html">00233</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__north__vector.html">_mip_ahrs_north_vector</a> 
<a name="l00234"></a>00234 {
<a name="l00235"></a>00235  <span class="keywordtype">float</span> north[3];       <span class="comment">//Unit Vector</span>
<a name="l00236"></a>00236 }<a class="code" href="struct__mip__ahrs__north__vector.html">mip_ahrs_north_vector</a>;
<a name="l00237"></a>00237 
<a name="l00238"></a>00238 
<a name="l00240"></a>00240 <span class="comment">// AHRS Signal Conditioning Settings</span>
<a name="l00242"></a>00242 <span class="comment"></span>
<a name="l00243"></a><a class="code" href="struct__mip__ahrs__signal__settings.html">00243</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ahrs__signal__settings.html">_mip_ahrs_signal_settings</a>
<a name="l00244"></a>00244 {
<a name="l00245"></a>00245  u16 orientation_decimation;
<a name="l00246"></a>00246  u16 data_conditioning_flags;
<a name="l00247"></a>00247  u8  inertial_filter_width;
<a name="l00248"></a>00248  u8  mag_filter_width;
<a name="l00249"></a>00249  u16 up_compensation;
<a name="l00250"></a>00250  u16 north_compensation;
<a name="l00251"></a>00251  u8  mag_bandwidth;
<a name="l00252"></a>00252  u16 reserved;
<a name="l00253"></a>00253 }<a class="code" href="struct__mip__ahrs__signal__settings.html">mip_ahrs_signal_settings</a>;
<a name="l00254"></a>00254 
<a name="l00255"></a>00255 
<a name="l00257"></a>00257 <span class="comment">// Complementary Filter Settings</span>
<a name="l00259"></a>00259 <span class="comment"></span>
<a name="l00260"></a><a class="code" href="struct__mip__complementary__filter__settings.html">00260</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__complementary__filter__settings.html">_mip_complementary_filter_settings</a>
<a name="l00261"></a>00261 {
<a name="l00262"></a>00262  u8    up_compensation_enable;
<a name="l00263"></a>00263  u8    north_compensation_enable;
<a name="l00264"></a>00264  <span class="keywordtype">float</span> up_compensation_time_constant;
<a name="l00265"></a>00265  <span class="keywordtype">float</span> north_compensation_time_constant;
<a name="l00266"></a>00266 }<a class="code" href="struct__mip__complementary__filter__settings.html">mip_complementary_filter_settings</a>;
<a name="l00267"></a>00267 
<a name="l00268"></a>00268 
<a name="l00270"></a>00270 <span class="comment">// Scaled data low pass filter settings</span>
<a name="l00272"></a>00272 <span class="comment"></span>
<a name="l00273"></a><a class="code" href="struct__mip__low__pass__filter__settings.html">00273</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__low__pass__filter__settings.html">_mip_low_pass_filter_settings</a>
<a name="l00274"></a>00274 {
<a name="l00275"></a>00275  u8             data_type;
<a name="l00276"></a>00276  u8             filter_type_selector;
<a name="l00277"></a>00277  u8             manual_cutoff;
<a name="l00278"></a>00278  u16    cutoff_frequency;
<a name="l00279"></a>00279  u8             reserved;       
<a name="l00280"></a>00280 }<a class="code" href="struct__mip__low__pass__filter__settings.html">mip_low_pass_filter_settings</a>;
<a name="l00281"></a>00281 
<a name="l00282"></a>00282 <span class="preprocessor">#pragma pack()</span>
<a name="l00283"></a>00283 <span class="preprocessor"></span>
<a name="l00285"></a>00285 <span class="comment">//</span>
<a name="l00286"></a>00286 <span class="comment">// Function Prototypes</span>
<a name="l00287"></a>00287 <span class="comment">//</span>
<a name="l00289"></a>00289 <span class="comment"></span>
<a name="l00290"></a>00290 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#ae1df97ba11e09fa3baca007d1b728f4c">mip_ahrs_raw_accel_byteswap</a>(<a class="code" href="struct__mip__ahrs__raw__accel.html">mip_ahrs_raw_accel</a> *raw_accel);
<a name="l00291"></a>00291 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#a6fad1881f9dfc800bc6a70ab9d94668d">mip_ahrs_raw_gyro_byteswap</a>(<a class="code" href="struct__mip__ahrs__raw__gyro.html">mip_ahrs_raw_gyro</a> *raw_gyro);
<a name="l00292"></a>00292 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#a877c7b3d25dcd14e9d2d7871b518252e">mip_ahrs_raw_mag_byteswap</a>(<a class="code" href="struct__mip__ahrs__raw__mag.html">mip_ahrs_raw_mag</a> *raw_mag);
<a name="l00293"></a>00293 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#ac5e3c586e9943da517984621f076ab90">mip_ahrs_scaled_accel_byteswap</a>(<a class="code" href="struct__mip__ahrs__scaled__accel.html">mip_ahrs_scaled_accel</a> *scaled_accel);
<a name="l00294"></a>00294 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#a94e95eec78028461a30e41beef55dda4">mip_ahrs_scaled_gyro_byteswap</a>(<a class="code" href="struct__mip__ahrs__scaled__gyro.html">mip_ahrs_scaled_gyro</a> *scaled_gyro);
<a name="l00295"></a>00295 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#ab8b8283e4b1032142793a647166586a1">mip_ahrs_scaled_mag_byteswap</a>(<a class="code" href="struct__mip__ahrs__scaled__mag.html">mip_ahrs_scaled_mag</a> *scaled_mag);
<a name="l00296"></a>00296 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#a9680fcfac613e12b329315a998df647b">mip_ahrs_delta_theta_byteswap</a>(<a class="code" href="struct__mip__ahrs__delta__theta.html">mip_ahrs_delta_theta</a> *delta_theta);
<a name="l00297"></a>00297 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#ad24b50a1603aecdbda1493ace0b0c5ae">mip_ahrs_delta_velocity_byteswap</a>(<a class="code" href="struct__mip__ahrs__delta__velocity.html">mip_ahrs_delta_velocity</a> *delta_velocity);
<a name="l00298"></a>00298 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#a99a82f3c0551d2f211509c4b4523709e">mip_ahrs_orientation_matrix_byteswap</a>(<a class="code" href="struct__mip__ahrs__orientation__matrix.html">mip_ahrs_orientation_matrix</a> *orientation_matrix);
<a name="l00299"></a>00299 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#a75838828924f03fafe823541806a079f">mip_ahrs_quaternion_byteswap</a>(<a class="code" href="struct__mip__ahrs__quaternion.html">mip_ahrs_quaternion</a> *quaternion);
<a name="l00300"></a>00300 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#ab74112f4c2fd46fabacf88bae06b2abc">mip_ahrs_euler_angles_byteswap</a>(<a class="code" href="struct__mip__ahrs__euler__angles.html">mip_ahrs_euler_angles</a> *euler_angles);
<a name="l00301"></a>00301 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#aaa00727f9776bee97c98cbcc89df5eef">mip_ahrs_orientation_update_matrix_byteswap</a>(<a class="code" href="struct__mip__ahrs__orientation__update__matrix.html">mip_ahrs_orientation_update_matrix</a> *orientation_update_matrix);
<a name="l00302"></a>00302 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#adfc2116bbfb589b13ce895d8ad3e138c">mip_ahrs_raw_temp_byteswap</a>(<a class="code" href="struct__mip__ahrs__raw__temp.html">mip_ahrs_raw_temp</a> *raw_temp);
<a name="l00303"></a>00303 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#a69f98928b04ed0f80230644b8426b4fb">mip_ahrs_internal_timestamp_byteswap</a>(<a class="code" href="struct__mip__ahrs__internal__timestamp.html">mip_ahrs_internal_timestamp</a> *internal_timestamp);
<a name="l00304"></a>00304 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#a2c6efd4bcda251c5275a9084995fb91c">mip_ahrs_1pps_timestamp_byteswap</a>(<a class="code" href="struct__mip__ahrs__1pps__timestamp.html">mip_ahrs_1pps_timestamp</a> *pps_timestamp);
<a name="l00305"></a>00305 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#a80c6e2ec30c744a5c2f99173850c5bf4">mip_ahrs_gps_timestamp_byteswap</a>(<a class="code" href="struct__mip__ahrs__gps__timestamp.html">mip_ahrs_gps_timestamp</a> *gps_timestamp);
<a name="l00306"></a>00306 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#ae9fbbf3868789c7727b82c706fdd18c5">mip_ahrs_up_vector_byteswap</a>(<a class="code" href="struct__mip__ahrs__up__vector.html">mip_ahrs_up_vector</a> *up_vector);
<a name="l00307"></a>00307 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#ac6fa2e5da1df85f9c6e39501a73d0963">mip_ahrs_north_vector_byteswap</a>(<a class="code" href="struct__mip__ahrs__north__vector.html">mip_ahrs_north_vector</a> *north_vector);
<a name="l00308"></a>00308 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__ahrs_8h.html#adcd0507181153241452e1c1acf5a1162">mip_ahrs_signal_settings_byteswap</a>(<a class="code" href="struct__mip__ahrs__signal__settings.html">mip_ahrs_signal_settings</a> *signal_settings);
<a name="l00309"></a>00309 
<a name="l00310"></a>00310 
<a name="l00311"></a>00311 <span class="preprocessor">#endif</span>
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